Unmanned vehicle

ABSTRACT

An unmanned vehicle includes a body and a gimbal assembly arranged at the body. The gimbal assembly includes a shock-absorbing structure arranged inside the body, a connecting structure arranged outside the body, and a load arranged outside the body and fixedly connected to the shock-absorbing structure via the connecting structure.

CROSS-REFERENCE TO RELATED APPLICATION

The application is a continuation application of InternationalApplication No. PCT/CN2016/072228, filed on Jan. 26, 2016, the entirecontents of which are incorporated herein by reference.

TECHNICAL FIELD

The present disclosure generally relates to a shock-absorbing structureand, more particularly, to a gimbal shock-absorbing structure, and agimbal and unmanned vehicle using the same.

BACKGROUND

In current designs of a gimbal, a shock-absorbing assembly of the gimbalcarried by an aircraft is generally arranged outside a housing of theaircraft and is connected to a shock-absorbing ball under the aircraftvia a connecting wire. The design manner separates the gimbal from theaircraft, causing the gimbal and the aircraft to be not integrated whileoccupying a relatively large space.

SUMMARY

In accordance with the disclosure, there is provided an unmanned vehicleincluding a body and a gimbal assembly arranged at the body. The gimbalassembly includes a shock-absorbing structure arranged inside the body,a connecting structure arranged outside the body, and a load arrangedoutside the body and fixedly connected to the shock-absorbing structurevia the connecting structure.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an unmanned vehicle according to anembodiment of the disclosure.

FIG. 2 is a perspective view of a gimbal assembly according to anembodiment of the disclosure.

FIG. 3 is an exploded view of a gimbal assembly according to anembodiment of the disclosure.

FIG. 4 schematically shows assembling the gimbal assembly in FIG. 3 to abody of an unmanned vehicle according an embodiment of the disclosure.

FIG. 5 schematically shows the gimbal assembly in FIG. 3 assembled tothe body of the unmanned vehicle.

FIG. 6 is a view of FIG. 5 from another angle.

FIG. 7 is a perspective view of another gimbal assembly according to anembodiment of the disclosure.

FIG. 8 is an exploded view of the gimbal assembly in FIG. 7.

FIG. 9 schematically shows the gimbal assembly in FIG. 7 assembled to abody of an unmanned vehicle.

FIG. 10 schematically shows an opening direction of a through hole of ashock-absorbing ball of the gimbal assembly in FIG. 7.

DESCRIPTION OF REFERENCE NUMERALS OF MAIN COMPONENTS

-   Unmanned Vehicle 1000-   Body 1-   Assembly hole 10-   Gimbal assembly 2, 3-   Shock-absorbing structure 20, 30-   Connecting structure 21, 31-   Locking hole 210, 310-   Gimbal 22, 32-   Load 23, 33-   Positioning structure 201, 301-   Moving member 200, 300-   Connecting plate 2000, 3000-   Fixing hole 2001, 3001-   Locking device 2002, 3002-   First connecting arm 2004, 3004-   First distal portion 2005, 3005-   First neck portion 20050, 30050-   Second distal portion 2006, 3006-   Second neck portion 20060, 30060-   Shock-absorbing ball 202, 302-   Ball portion 2020, 3020-   First through hole 2021, 3021-   Second through hole 2023, 3023-   First fixing portion 2022, 3022-   Second fixing portion 2024, 3024-   Fixing member 204, 304-   Positioning portion 2040, 3040-   Positioning hole 2041, 3041-   Fixing device 2042, 3042-   Connecting portion 2043, 3043-   Second connecting arm 2044, 3044-   Distal end 20440, 30440-   Third neck portion 20442, 30442-   Limiting portion 2046, 3046

DETAILED DESCRIPTION OF EMBODIMENTS

Technical solutions of the present disclosure will be described withreference to the drawings. It will be appreciated that the describedembodiments are some rather than all of the embodiments of the presentdisclosure. Other embodiments conceived by those having ordinary skillsin the art on the basis of the described embodiments without inventiveefforts should fall within the scope of the present disclosure.

As used herein, when a first component is referred to as “fixed to” asecond component, it is intended that the first component may bedirectly attached to the second component or may be indirectly attachedto the second component via another component.

When a first component is referred to as “connecting” to a secondcomponent, it is intended that the first component may be directlyconnected to the second component or may be indirectly connected to thesecond component via a third component between them. The terms“perpendicular,” “horizontal,” “left,” “right,” and similar expressionsused herein are merely intended for description.

Unless otherwise defined, all the technical and scientific terms usedherein have the same or similar meanings as generally understood by oneof ordinary skill in the art. As described herein, the terms used in thespecification of the present disclosure are intended to describeexemplary embodiments, instead of limiting the present disclosure. Theterm “and/or” used herein includes any suitable combination of one ormore related items listed.

FIG. 1 is a perspective view of an unmanned vehicle 1000 consistent withthe disclosure. The unmanned vehicle 1000 can be an unmanned aerialvehicle (UAV), for example, a rotary-wing UAV, a fixed-wing UAV, or aUAV having both fixed-wing and rotary-wing. The rotary-wing can be asingle-rotor, dual-rotor, tri-rotor, quad-rotor, hexa-rotor, octa-rotor,or the like. In some embodiments, the unmanned vehicle 100 can be anunmanned vehicle capable of moving on or in water (e.g., a driverlessboat or an unmanned submarine), an unmanned vehicle capable of moving onthe ground (e.g., a driverless car), an unmanned vehicle capable ofmoving in air (e.g., the UAV), or the like. Hereinafter, the rotary-wingUAV is taken as an example of the unmanned vehicle 1000. The unmannedvehicle 1000 includes a body 1 and a gimbal assembly 2 mounted on thebody 1.

FIG. 2 is a perspective view of the gimbal assembly 2 consistent withthe disclosure. As shown in FIG. 2, the gimbal assembly 2 includes ashock-absorbing structure 20, a connecting structure 21, a gimbal 22,and a load 23. The shock-absorbing structure 20 can be arranged withinthe body 1. The connecting structure 21 connects the shock-absorbingstructure 20 and the gimbal 22. The gimbal 22 carries the load 23thereon. The gimbal 22 can be a single-axis gimbal, a dual-axis gimbal,or a triple-axis gimbal. The connecting structure 21, the gimbal 22, andthe load 23 can be arranged outside the body 1. The load 23 can be anysensing apparatus or photographing apparatus that is suitable for beingmounted on the gimbal 22. In some embodiments, the load 23 can be aphotographing apparatus, such as a camera. In some embodiments, a centerpoint of the shock-absorbing structure 20 can coincide with a centerpoint of the gimbal assembly 2.

FIG. 3 is an exploded view of the gimbal assembly 2 consistent with thedisclosure. As shown in FIGS. 2 and 3, the shock-absorbing structure 20includes a plurality of shock-absorbing balls 202 and a positioningstructure 201 fixedly connecting the plurality of shock-absorbing balls202 to the body 1. The positioning structure 201 includes a movingmember 200 and two fixing members 204 configured to fix the gimbalassembly 2 inside the body 1. The two fixing members 204 are fixedlyarranged inside the body 1. The plurality of shock-absorbing balls 202connect to the moving member 200 and the two fixing members 204. Themoving member 200 is fixedly connected to the connecting structure 21,and the moving member 200 can move relative to the two fixing members204 to drive the gimbal 22 and the load 23 together to move relative tothe body 1.

The moving member 200 includes a connecting plate 2000 and two firstconnecting arms 2004 arranged at opposite sides of the connecting plate2000, respectively. Each first connecting arm 2004 is connected to theconnecting plate 2000 through an extending portion 2003. The two firstconnecting arms 2004, the two extending portions 2003, and theconnecting plate 2000 can be one-piece molded. In some embodiments,components of the moving member 200 can be, not one-piece molded, butfixed together using other fixing methods, such as screwing,snap-fastening, or the like. In some embodiments, a plurality of fixingholes 2001 are arranged at the connecting plate 2000, and a plurality ofcorresponding locking holes 210 are arranged at the connecting structure21. A plurality of locking devices 2002 can pass through the pluralityof fixing holes 2001 and the corresponding locking holes 210, such thatthe connecting plate 2000 can be fixedly connected to the connectingstructure 21. In some other embodiments, another fixing manner, e.g., asnap fit, an interference fit, or the like, can be used, as long as theconnecting plate 2000 can be fixedly connected to the connectingstructure 21 and cannot move relative to the connecting structure 21.

The two extending portions 2003 are formed by extending upward from twoopposite sides of the connecting plate 2000, respectively. Each firstconnecting arm 2004 is formed by extending from an end of thecorresponding extending portion 2003 distal from the connecting plate2000 in a direction away from the connecting plate 2000. Two ends ofeach first connecting arm 2004 are connected to two of the plurality ofshock-absorbing balls 202, respectively. Each first connecting arm 2004is approximately parallel to the connecting plate 2000. The two ends ofeach first connecting arm 2004 include a first distal portion 2005 and asecond distal portion 2006, respectively. Each first distal portion 2005or each second distal portion 2006 is connected to one of the pluralityof shock-absorbing balls 202. Each first connecting arm 2004 includes afirst neck portion 20050 formed near the first distal portion 2005. Eachfirst neck portion 20050 includes two notches formed correspondingly attwo sides of the first distal portion 2005. That is, a size of a firstneck portion 20050 in a direction perpendicular to the first neckportion 20050 is smaller than a size of the corresponding first distalportion 2005. Each first connecting arm 2004 includes a second neckportion 20060 formed near the second distal portion 2006. Each secondneck portion 20060 includes two notches formed correspondingly at twosides of the second distal portion 2006. That is, a size of a secondneck portion 20060 in a direction perpendicular to the second neckportion 20060 is smaller than a size of the corresponding second distalportion 2006.

Each fixing member 204 includes a positioning portion 2040, twoconnecting portions 2043, two second connecting arms 2044, and alimiting portion 2046. The positioning portion 2040 is configured tofixedly connect to an inside of the body 1, such that the fixing member204 can be fixedly arranged at an inner bottom wall of the body 1. Theconnecting portion 2043 is configured to connect the positioning portion2040 to the second connecting arm 2044. The components of each fixingmember 204, such as the positioning portion 2040, the two connectingportions 2043, the two second connecting arms 2044, and the limitingportion 2046, can be one-piece molded. In some other embodiments, thecomponents of the fixing member 204 can also be separately arranged andfixed together by other fixing manners, such as screwing,snap-fastening, or the like.

The positioning portion 2040 is provided with a plurality of positioningholes 2041. A plurality of fixing devices 2042 can pass through theplurality of positioning holes 2041 to lock on the inner bottom wall ofthe body 1. In some embodiments, the positioning portion 2040 can alsobe fixedly connected to the inner bottom wall of the body 1 by othermanners, such as a snap fit, an interference fit, or the like, as longas the positioning portion 2040 can be fixedly connected to the innerbottom wall of the body 1 and cannot move relative to the inner bottomwall of the body 1.

Each connecting portion 2043 is formed by extending from an end of thepositioning portion 2040 toward a direction away from the positioningportion 2040. Each second connecting arm 2044 is formed by extendingfrom an end of the connecting portion 2043 distal from the positioningportion 2040 in a direction away from the positioning portion 2040 andis approximately parallel to the positioning portion 2040. Each secondconnecting arm 2044 includes a distal end 20440 for connecting to one ofthe plurality of shock-absorbing balls 202. Each second connecting arm2044 includes a third neck portion 20442 formed near the distal end20440. Each third neck portion 20442 includes two notches formedcorrespondingly at two sides of the second connecting arm 2044. That is,a size of the third neck portion 20442 in a direction perpendicular tothe third neck portion 20442 is smaller than a size of the correspondingdistal end 20440. The limiting portion 2046 is formed by extending froma side of the positioning portion 2040 where the connecting portion 2043is not arranged, and the limiting portion 2046 is approximately parallelto the positioning portion 2040 and slightly higher than the positioningportion 2040. A vertical height difference between the limiting portion2046 and the second connecting arm 2044 is greater than a diameter ofthe shock-absorbing ball 202, such that the moving member 200 can moveup and down in a space defined by the limiting portion 2046 and thepositioning portion 2040.

Each shock-absorbing ball 202 includes a ball portion 2020, a firstfixing portion 2022, and a second fixing portion 2024. The ball portion2020 is provided with a first through hole 2021 and a second throughhole 2023. An opening direction of the first through hole 2021 isapproximately perpendicular to an opening direction of the secondthrough hole 2023, and a center point of the first through hole 2021 anda center point of the second through hole 2023 coincide with the centerpoint of the shock-absorbing ball 202. Opening a plurality of throughholes in the ball portion 2020 can achieve a better shock absorbingeffect. The ball portion 2020 can be made of an elastic material. Thefirst fixing portion 2022 is configured to connect to the first distalportion 2005 or the second distal portion 2006 of the correspondingfirst connecting arm 2004 of the moving member 200. The second fixingportion 2024 is configured to connect to the corresponding fixing member204. The first fixing portion 2022 is a sleeve made of an elasticmaterial and can be sleeved on the first distal portion 2005 or thesecond distal portion 2006 to fixedly connect the shock-absorbing ball202 to the moving member 200. The second fixing portion 2024 is similarto the first fixing portion 2022 and is also a sleeve made of an elasticmaterial and can be sleeved on the distal end 20440 to fixedly connectthe shock-absorbing ball 202 to the corresponding fixing member 204. Thesleeve direction of the first fixing portion 2022 is approximatelyperpendicular to the sleeve direction of the second fixing portion 2024.In some other embodiments, the sleeve direction of the first fixingportion 2022 and the sleeve direction of the second fixing portion 2024is not limited to be perpendicular to each other, and may be, forexample, parallel to each other or in another positional relationship.The sleeve directions need to be set in accordance with the extendingdirections of the first distal portion 2005, the second distal portion2006, and the distal end 20440. It should be appreciated that the firstfixing portion 2022 and the second fixing portion 2024 are provided inthe sleeve shape for illustration and ease of installation. The elasticmaterial is intended for further absorbing the shock. In some otherembodiments, the first fixing portion 2022 and the second fixing portion2024 can be made of another material and have another structure, as longas the shock-absorbing ball 202 can be fixedly connected to the movingmember 200 and the corresponding fixing member 204. For example, theshock-absorbing ball 202 can be fixedly connected to the moving member200 and the corresponding fixing member 204 by a snap fit or the like.

FIG. 4 schematically shows assembling the gimbal assembly 2 in FIG. 3 tothe body 1 of the unmanned vehicle 100 consistent with the disclosure.As shown in FIGS. 3 and 4, when the gimbal assembly 2 is being assembledto the body 1 of the unmanned vehicle 1000, the first fixing portion2022 and the second fixing portion 2024 of a shock-absorbing ball 202are respectively sleeved on the first neck portion 20050 or the secondneck portion 20060 of the corresponding first connecting arm 2004 of themoving member 200 and the third neck portion 20442 of the correspondingsecond connecting arm 2044 of the corresponding fixing member 204, suchthat the shock-absorbing ball 202 can be fixedly connected between themoving member 200 and the corresponding fixing member 204. The twofixing members 204 can be fixedly connected to the inner bottom wall ofthe body 1 using the plurality of fixing devices 2042. The connectingstructure 21 is fixedly connected to the connecting plate 2000 through amounting hole 10 provided at the body 1, such that the gimbal assembly 2can be assembled on the body 1.

FIG. 5 schematically shows the gimbal assembly 2 in FIG. 3 assembled tothe body 1 of the unmanned vehicle 1000 consistent with the disclosure.FIG. 6 is a view of the assembled structure from another angle.

After the assembly is completed, as shown in FIGS. 5 and 6, the movingmember 200 and the two fixing members 204 are connected by the pluralityof shock-absorbing balls 202. The plurality of shock-absorbing balls 202are made of an elastic material, and each shock-absorbing ball 202 isprovided with the first through hole 2021 and the second through hole2023, such that the moving member 200 can move relative to the twofixing members 204 and can return to an initial position under anelastic force of the plurality of shock-absorbing balls 202. A distancebetween the two limiting portions 2046 is greater than a distancebetween inner sides of the two first connecting arms 2004 (i.e., sidesof the two first connecting arms 2004 close to the connecting plate2000) and is less than a distance between outer sides of the two firstconnecting arms 2004 (i.e., sides of the two first connecting arms 2004distal from the connecting plate 2000). Therefore, the two limitingportions 2046 of the two fixing members 204 can limit a moving range ofthe moving member 200 in a direction perpendicular to the bottom wall ofthe body 1 to prevent the moving range of the moving member 200 frombeing too large to affect other members assembled in the body 1, and toprevent a tension on the plurality shock-absorbing balls 202 from beingtoo large to damage the elasticity of the plurality of shock-absorbingballs 202. During a movement of the unmanned vehicle 1000, if the gimbal22 and the load 23 move relative to the body 1, a vibration generated bythe movement is transmitted to the two fixing members 204. The body 1 isconnected to the two fixing members 204 via the plurality ofshock-absorbing balls 202. Due to the shock absorbing effect of theplurality of shock-absorbing balls 202, the influence of the vibrationon the body 1 can be greatly reduced.

FIG. 7 is a perspective view of a gimbal assembly 3 consistent with thedisclosure. As shown in FIG. 7, the gimbal assembly 3 includes ashock-absorbing structure 30, a connecting structure 31, a gimbal 32,and a load 33. The shock-absorbing structure 30 can be arranged insidethe body 1. The connecting structure 31 connects the shock-absorbingstructure 30 and the gimbal 32. The load 33 is provided at the gimbal32. The gimbal 32 can be a single-axis gimbal, a dual-axis gimbal, or atriple-axis gimbal. The connecting structure 31, the gimbal 32, and theload 33 can be arranged outside the body 1. The load 33 can be anysensing apparatus or photographing apparatus that is suitable for beingmounted on the gimbal 32. In some embodiments, the load 33 is aphotographing apparatus, such as a camera. In some embodiments, a centerpoint of the shock-absorbing structure 30 of the gimbal coincides with acenter point of the gimbal assembly 3.

FIG. 8 is an exploded view of the gimbal assembly 3 in FIG. 7 consistentwith the disclosure. As shown in FIGS. 7 and 8, the shock-absorbingstructure 30 includes a plurality of shock-absorbing balls 302 and apositioning structure 301 fixedly connecting the plurality ofshock-absorbing balls 302 to the body 1. The positioning structure 301includes a moving member 300 and two fixing members 304. The movingmember 300 is fixedly connected to the connecting structure 31, and themoving member 300 can move relative to the two fixing members 304 todrive the gimbal 32 and the load 33 together to move relative to thebody 1.

The moving member 300 is similar to the moving member 200 and includes aconnecting plate 3000 and two first connecting arms 3004 arranged atopposite sides of the connecting plate 3000. Each first connecting arm3004 is connected to the connecting plate 3000 through an extendingportion 3003. The two first connecting arms 3004, the two extendingportions 3003, and the connecting plate 3000 can be one-piece molded.Each first connecting arm 3004 is approximately parallel to theconnecting plate 3000. Each first connecting arm 3004 includes a firstdistal portion 3005 and a second distal portion 3006. Each first distalportion 3005 or each second distal portion 3006 is connected to one ofthe plurality of shock-absorbing balls 302. A distance between the firstdistal portion 3005 and the second distal portion 3006 of each firstconnecting arm 3004 gradually increases from the connecting plate 3000in the direction away from the connecting plate 3000. In someembodiments, the two first distal portions 3005 and the two seconddistal portions 3006 are symmetrically arranged with respect to a centerof the moving member 300, such that the plurality of shock-absorbingballs connected to the two first distal portions 3005 and the two seconddistal portions 3006 can be symmetrically arranged with respect to acenter of the gimbal assembly 3 to balance and mitigate the vibration ofthe body 1 caused by the motion of the gimbal 32 and the load 33. Insome embodiments, the two first distal portions 3005 and the two seconddistal portions 3006 can be evenly distributed on a circle centered onthe center of the moving member 300, such that the plurality ofshock-absorbing balls can be evenly distributed on a circle centered onthe center of the gimbal assembly 3 to balance and mitigate the shock ofthe body 1 caused by the motion of the gimbal 32 and the load 33.

The connecting plate 3000 is fixedly connected to the connectingstructure 31. In some embodiments, a plurality of fixing holes 3001 arearranged at the connecting plate 3000, and a plurality of correspondinglocking holes 210 are arranged at the connecting structure 31. Aplurality of locking devices 3002 can pass through the plurality offixing holes 3001 and the corresponding locking holes 310, such that theconnecting plate 3000 can be fixedly connected to the connectingstructure 31. In some other embodiments, another fixing manner, e.g., asnap fit, an interference fit, or the like, can be used, as long as theconnecting plate 3000 can be fixedly connected to the connectingstructure 31 and cannot move relative to the connecting structure 31.

The two extending portions 3003 are formed by extending upward from twoopposite sides of the connecting plate 3000, respectively. Each firstconnecting arm 3004 is formed by extending from an end of thecorresponding extending portion 3003 distal from the connecting plate3000 in a direction away from the connecting plate 3000. Each firstconnecting arm 3004 is approximately parallel to the connecting plate3000. Each first connecting arm 3004 includes a first neck portion 30050formed near the first distal portion 3005. The first neck portion 30050includes two notches formed correspondingly at two sides of the firstdistal portion 3005. That is, a size of the first neck portion 30050 ina direction perpendicular to the first neck portion 30050 is smallerthan a size of the corresponding first distal portion 3005. Each firstconnecting arm 3004 includes a second neck portion 30060 formed near thesecond distal portion 3006. The second neck portion 30060 includes twonotches formed at two sides corresponding to the second distal portion3006. That is, a size of the second neck portion 30060 in a directionperpendicular to the second neck portion 30060 is smaller than a size ofthe corresponding second distal portion 3006.

Each fixing member 304 includes a positioning portion 3040, a connectingportion 3043, two second connecting arms 3044, and a limiting portion3046. The components of each fixing device 304, such as the positioningportion 3040, the connecting portion 3043, the two second connectingarms 3044, and the limiting portion 3046, can be one-piece molded. Insome other embodiments, the components of a fixing member 304 can alsobe separately arranged and fixed together by other fixing manners, suchas screwing, snap-fastening, or the like.

The positioning portion 3040 is configured to fixedly connect to aninside of the body 1, such that the fixing member 304 can be fixedlyarranged at an inner bottom wall of the body 1. The positioning portion3040 is provided with a plurality of positioning holes 3041. A pluralityof fixing devices 3042 can pass through the plurality of positioningholes 3041 to lock on the inner bottom wall of the body 1. In someembodiments, the positioning portion 3040 can also be fixedly connectedto the inner bottom wall of the body 1 by another manner, such as a snapfit, an interference fit, or the like, as long as the positioningportion 3040 can be fixedly connected to the inner bottom wall of thebody 1 and cannot move relative to the inner bottom wall of the body 1.

The connecting portion 3043 is formed by extending from an end of thepositioning portion 3040 toward a direction away from the positioningportion 3040. The connecting portion 3043 has a C-shape-like structurefor connecting the positioning portion 3040 and the limiting portion3046. A width of the connecting portion 3043 in a radial direction ofthe positioning portion 3040 is smaller than a width of the positioningportion 3040, thereby facilitating the installation of the plurality offixing devices 3042.

Each second connecting arm 3044 is formed by extending from an end ofthe positioning portion 3040 distal from the positioning portion 3040 ina direction away from the positioning portion 3040 and approximatelyparallel to the positioning portion 3040. The second connecting arm 3044is slightly lower than the positioning portion 3040. Corresponding tothe first distal portion 3005 and the second distal portion 3006 of eachfirst connecting arm 3004, a distance between the two second connectingarms 3044 gradually increases from the positioning portion 3040 in thedirection away from the positioning portion 3040. Each second connectingarm 3044 includes a distal end 30440 for connecting to one of theplurality of shock-absorbing balls 302. Each second connecting arm 3044includes a third neck portion 30442 formed near the distal end 30440.Each third neck portion 30442 includes two notches formedcorrespondingly at two sides of the distal end 30440. That is, a size ofa third neck portion 30442 in a direction perpendicular to the thirdneck portion 30442 is smaller than a size of the corresponding distalend 30440.

The limiting portion 3046 is formed by extending from a side of theconnecting portion 3043 distal from the position portion 3040 in adirection parallel to the second connecting arm 3044. A length of thelimiting portion 3046 in a radial direction is greater than a width ofthe connecting portion 3043 in the radial direction, and the length ofthe limiting portion 3046 in the radial direction is greater than adistance between the two first connecting arms 3004, such that a movingrange of the moving member 300 in a direction perpendicular to thepositioning portion 3040 can be limited. A vertical distance between thelimiting portion 3046 and the second connecting arm 3044 is greater thana diameter of a shock-absorbing ball 302.

Each shock-absorbing ball 302 includes a ball portion 3020, a firstfixing portion 3022, and a second fixing portion 3024. The ball portion3020 is provided with a first through hole 3021. A center point of thefirst through hole 3021 coincides with the center point of theshock-absorbing ball 302. The ball portion 3020 can be made of anelastic material. The first fixing portion 3022 is configured to connectto the first distal portion 3005 or the second distal portion 3006 ofthe corresponding first connecting arm 3004 of the moving member 300.The second fixing portion 3024 is configured to connect to thecorresponding fixing member 304. The first fixing portion 3022 is asleeve made of an elastic material and can be sleeved on the first neckportion 30050 or the second neck portion 30060 to fixedly connect theshock-absorbing ball 302 to the moving member 300. The second fixingportion 3024 is similar to the first fixing portion 3022 and is also asleeve made of an elastic material and can be sleeved on the third neckportion 30442 to fixedly connect the shock-absorbing ball 202 to thecorresponding fixing member 304. The sleeve direction of the firstfixing portion 3022 is approximately perpendicular to the sleevedirection of the second fixing portion 3024. In some other embodiments,the sleeve direction of the first fixing portion 3022 and the sleevedirection of the second fixing portion 3024 is not limited to beperpendicular to each other, and may be, for example, parallel to eachother or in another positional relationship. The sleeve directions needto be set in accordance with the extending direction of the first distalportion 3005, the second distal portion 3006, and the distal end 30440.It should be appreciated that the first fixing portion 3022 and thesecond fixing portion 3024 are provided in the sleeve shape forillustration and ease of installation. The elastic material is intendedfor further absorbing the shock. In some other embodiments, the firstfixing portion 3022 and the second fixing portion 3024 can be made ofanother material and have another structure, as long as theshock-absorbing ball 302 can be fixedly connected to the moving member300 and the corresponding fixing member 304. For example, eachshock-absorbing ball 302 can be fixedly connected to the moving member300 and the corresponding fixing member 304 by a snap fit or the like.

As shown in FIG. 8, when the gimbal assembly 3 is being assembled to thebody 1 of the unmanned vehicle 1000, the first fixing portion 3022 andthe second fixing portion 3024 of each shock-absorbing ball 302 arerespectively sleeved on the first neck portion 30050 or the second neckportion 30060 of the corresponding first connecting arm 3004 of themoving member 300 and the third neck portion 30442 of the correspondingsecond connecting arm 3044 of the corresponding fixing member 304, suchthat the shock-absorbing ball 302 can be fixedly connected between themoving member 300 and the corresponding fixing member 304. The twofixing member 304 can be fixedly connected to the inner bottom wall ofthe body 1 using the plurality of fixing devices 3042. The connectingstructure 31 is fixedly connected to the connecting plate 3000 through amounting hole 10 provided at the body 1, such that the gimbal assembly 3can be assembled on the body 1.

FIG. 9 schematically shows the gimbal assembly 3 in FIG. 7 assembled tothe body 1 of the unmanned vehicle 1000 consistent with the disclosure.

After the assembly is completed, as shown in FIG. 9, the moving member300 and the two fixing members 304 are connected by the plurality ofshock-absorbing balls 302. The plurality of shock-absorbing balls 302are made of an elastic material, and each shock-absorbing ball 302 isprovided with the first through hole 3021, such that the moving member300 can move relative to the two fixing members 304. A distance betweenthe two limiting portions 3046 is greater than a distance between innersides of the two first connecting arms 3004 (i.e., sides of the twofirst connecting arms 3004 close to the connecting plate 3000) and isless than a distance between outer sides of the two first connectingarms 3004 (i.e., sides of the two first connecting arms 3004 distal fromthe connecting plate 3000). Therefore, the two limiting portions 3046 ofthe two fixing members 304 can limit a moving range of the moving member300 in a direction perpendicular to the bottom wall of the body 1 toprevent the moving range of the moving member 300 from being too largeto affect other members assembled in the body 1, and to prevent atension on the plurality shock-absorbing balls 302 from being too largeto damage the elasticity of the plurality of shock-absorbing balls 302.

FIG. 10 schematically shows an opening direction of the first throughhole 3021 of the ball portion 3020 of each shock-absorbing ball 302 ofthe gimbal assembly 3 shown in FIG. 7. The plurality of shock-absorbingballs 302 are evenly distributed on a circle centered on a center pointO of the gimbal assembly 3, such that the degree of shock absorbing ofthe gimbal assembly 3 in all directions can be more even. In order toachieve a better shock-absorbing effect, the ball portion 3020 isprovided with the first through hole 3021, a line connecting a centerpoint O₁ of the first through hole 3021 and the center point O of thegimbal assembly 3 is perpendicular to a centerline of the openingdirection of the first through hole 3021. The above-describedarrangement of the position of the plurality of shock-absorbing balls302 and the opening direction of the first through hole 3021 can obtaina better shock-absorbing effect.

In some embodiments, as shown in FIGS. 2 to 6, when two through holesare provided, the opening direction of one of the two through holes, forexample, the first through hole 2021, can be set as the direction shownin FIG. 10, and the opening direction for another through hole, forexample, the second through hole 2023, can be set to be perpendicular tothe opening direction of the first through hole 2021, such that a bettershock-absorbing effect of the shock-absorbing ball 202 can be achieved.

In some embodiments, as shown in FIGS. 2 to 6, the plurality ofshock-absorbing balls 202 can be symmetrically arranged with respect tothe center of the gimbal assembly 2, such that the plurality ofshock-absorbing balls 202 can balance and mitigate the vibration of body1 caused by the motion of the gimbal 22 and the load 23. In someembodiments, the plurality of shock-absorbing balls 202 can be evenlydistributed on a circle centered on the center point of the gimbalassembly 2, such that the shock-absorbing balls 202 can more evenlybalance and mitigate the vibration of body 1 caused by the motion of thegimbal 22 and the load 23.

In some embodiments, the two fixing members 204 shown in FIGS. 2 to 6can be interchanged with the two fixing members 304 shown in FIGS. 7 to9. In some other embodiments, the two fixing members 204 (or 304) canalso have any other suitable structure as long as the plurality ofshock-absorbing balls 202 (or 302) can be fixed to the body 1, and themoving range of the moving member 200 (or 300) can be limited in atleast one direction. It can be appreciated that the limiting portion2046 (or 3046) and/or the two connecting portions 2043 (or 3043) can befixed to the body 1 independently of the two second connecting arms 2044(or 3044).

In some embodiments, the manner of connecting the first fixing portion2022 (or 3022) to the corresponding first connecting arm 2004 (or 3004),and the manner of connecting the second fixing portion 2024 (or 3024) tothe corresponding second connecting arm 2044 (or 3044) are not limitedto the above-described manners. For example, an elastic fixing membercan be provided at each first connecting arm 2004 (or 3004), the firstfixing portion 2022 (or 3022) can be an elastic sheet or a non-elasticsheet, and the first fixing portion 2022 (or 3022) can be fixed to thecorresponding first connecting arm 2004 (or 3004) by connecting theelastic fixing member to the elastic sheet or the non-elastic sheet. Asanother example, an engaging structure can be arranged at each firstconnecting arm 2004 (or 3004) or each second connecting arm 2044 (or3044), and the first fixing portion 2022 (or 3022) or the second fixingportion 2024 (or 3024) can be engaged on the corresponding fixing member204 (or 304).

Various changes and modifications can be made by those skilled in theart on the basis of the technique concept of the present disclosure,which should fall within the scope of the present disclosure.

What is claimed is:
 1. An unmanned vehicle comprising: a body; and agimbal assembly arranged at the body and including: a shock-absorbingstructure arranged inside the body, the shock-absorbing structureincluding a plurality of shock-absorbing balls arranged symmetricallywith respect to a symmetry center, and each of the plurality ofshock-absorbing balls including a through hole; a connecting structurearranged outside the body; a gimbal coupled to the connecting structure;and a load arranged outside the body, carried by the gimbal, and fixedlyconnected to the shock-absorbing structure via the connecting structure,wherein a line connecting a center of the gimbal and the symmetry centeris perpendicular to a centerline of an opening direction of the throughhole of each of the plurality of shock-absorbing balls.
 2. The unmannedvehicle of claim 1, wherein the shock-absorbing structure furtherincludes: a positioning structure fixedly connecting the plurality ofshock-absorbing balls to the body and including: a fixing member fixedlyconnected to an end of each of the plurality of shock-absorbing ballsand the body; and a moving member fixedly connected to another end ofeach of the plurality of shock-absorbing balls and the gimbal.
 3. Theunmanned vehicle of claim 2, wherein: a center of the through hole ofeach of the plurality of shock-absorbing balls coincides with a centerof the corresponding one of the plurality of shock-absorbing balls. 4.The unmanned vehicle of claim 3, wherein: a line connecting the centerof the through hole of each of the plurality of shock-absorbing ballsand the symmetry center is perpendicular to the centerline of theopening direction of the through hole.
 5. The unmanned vehicle of claim4, wherein: the through hole is a first through hole; each of theplurality of shock-absorbing balls further includes a second throughhole; a center of the second through hole of each of the plurality ofshock-absorbing balls coincides with the center of the corresponding oneof the plurality of shock-absorbing balls; and an opening direction ofthe second through hole is perpendicular to the opening direction of thefirst through hole.
 6. The unmanned vehicle of claim 3, wherein: theplurality of shock-absorbing balls are evenly distributed on a circlecentered on the symmetry center.
 7. The unmanned vehicle of claim 3,wherein: the through hole is a first through hole; each of the pluralityof shock-absorbing balls further includes a second through hole; acenter of the second through hole of each of the plurality ofshock-absorbing balls coincides with the center of the corresponding oneof the plurality of shock-absorbing balls; and an opening direction ofthe second through hole is perpendicular to the opening direction of thefirst through hole.
 8. The unmanned vehicle of claim 2, wherein themoving member includes: a connecting plate fixedly connected to thegimbal; and a plurality of connecting arms each extending from a side ofthe connecting plate, a distal portion of each of the plurality ofconnecting arms being connected to one of the plurality ofshock-absorbing balls.
 9. The unmanned vehicle of claim 8, wherein: thedistal portion includes a neck portion; each of the plurality ofshock-absorbing balls includes an elastic sleeve; and the elastic sleeveis sleeved on the neck portion.
 10. The unmanned vehicle according toclaim 8, wherein: the connecting plate is fixedly connected to thegimbal via a connecting structure.
 11. The unmanned vehicle according toclaim 10, wherein: the connecting plate includes a fixing hole; theconnecting structure includes a locking hole; and the connecting plateis locked to the connecting structure by a locking device passingthrough the fixing hole and the locking hole.
 12. The unmanned vehicleof claim 9, wherein: the plurality of connecting arms are a plurality offirst connecting arms; and the fixing member includes: a positioningportion fixedly connected to the body; a plurality of connectingportions each extending from a side of the positioning portion; aplurality of second connecting arms each extending from an end of one ofthe plurality of connecting portions distal from the positioningportion, a distal end of each of the plurality of second connecting armsbeing connected to one of the plurality of shock-absorbing balls; and alimiting portion fixedly connected to the positioning portion andapproximately parallel to the positioning portion.
 13. The unmannedvehicle of claim 12, wherein: the plurality of first connecting armsinclude two first connecting arms extending from opposite sides of theconnecting plate; a length of one of the plurality of second connectingarms is greater than a distance between inner sides of the two firstconnecting arms and is less than a distance between outer sides of thetwo first connecting arms.
 14. The unmanned vehicle of claim 12,wherein: the elastic sleeve is a first elastic sleeve; each of theplurality of shock-absorbing balls includes a second elastic sleeve; andthe second elastic sleeve is sleeved on a neck portion provided at thedistal end of the corresponding one of the plurality of secondconnecting arms.
 15. The unmanned vehicle of claim 9, wherein: theplurality of connecting arms are a plurality of first connecting arms;and the fixing member includes: a positioning portion fixedly connectedto the body; a plurality of connecting portions each extending from aside of the positioning portion; a plurality of second connecting armseach extending from an end of the positioning portion, a distal end ofeach of the plurality of second connecting arms being connected to oneof the plurality of shock-absorbing balls; and a limiting portionextending from an end of the connecting portion and approximatelyparallel to the positioning portion.
 16. The unmanned vehicle of claim15, wherein: the plurality of first connecting arms include two firstconnecting arms extending from opposite sides of the connecting plate; alength of one of the plurality of second connecting arms is greater thana distance between inner sides of the two first connecting arms and isless than a distance between outer sides of the two first connectingarms.
 17. The unmanned vehicle of claim 15, wherein: a vertical distancebetween the limiting portion and one of the plurality of secondconnecting arms is greater than a diameter of each of the plurality ofshock-absorbing balls.
 18. The unmanned vehicle of claim 15, wherein:the elastic sleeve is a first elastic sleeve; each of the plurality ofshock-absorbing balls includes a second elastic sleeve; and the secondelastic sleeve is sleeved on a neck portion provided at the distal endof the corresponding one of the plurality of second connecting arms. 19.The unmanned vehicle of claim 8, wherein: the distal portion is one oftwo distal portions of each of the plurality of connecting arms; and adistance between the two distal portions gradually increases from theconnecting plate in a direction away from the connecting plate.